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                <h1 class="title-article" id="articleContentId">ROS之rviz显示历史运动轨迹、路径的各种方法（visualization_msgs/Marker、nav_msgs/Path）</h1>
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                    <h1>0. 写在最前面</h1> 
<p>希望大家收藏&#xff1a;</p> 
<p>本文持续更新地址&#xff1a;<a href="https://haoqchen.site/2018/05/25/ROS-show-trajectory/">https://haoqchen.site/2018/05/25/ROS-show-trajectory/</a></p> 
<p><strong>左侧专栏还在更新其他ROS实用技巧哦&#xff0c;关注一波&#xff1f;</strong></p> 
<p>    在使用ROS进行机器人控制的时候&#xff0c;有时候会希望能够显示并且保留机器人的历史运动轨迹&#xff0c;比如最近在做行人跟踪&#xff0c;就希望能够保留多个行人的轨迹以及机器人的运动。本文将会介绍网上搜罗到的各种方法&#xff0c;并粗略比较一些优劣。</p> 
<p>github地址&#xff1a;<a href="https://github.com/HaoQChen/show_trajectory">https://github.com/HaoQChen/show_trajectory</a></p> 
<p>喜欢的帮我github点个赞&#xff0c;点个关注呗&#xff5e;&#xff5e;&#xff5e;&#xff5e;</p> 
<h1>1. visualization_msgs/Marker</h1> 
<p>    如名字所示&#xff0c;就是画出可视化的标志物。利用Marker有两种方法可以实现画出轨迹。相对于后面的方法来说&#xff0c;使用Marker可以有丰富的形状选择。首先看这个类包含的成员&#xff1a;</p> 
<pre class="has"><code class="language-cpp">//各种标志物类型的定义&#xff0c;每一个的具体介绍和形状可以到这里查看&#xff1a;http://wiki.ros.org/rviz/DisplayTypes/Marker
uint8 ARROW&#61;0//箭头
uint8 CUBE&#61;1//立方体
uint8 SPHERE&#61;2//球
uint8 CYLINDER&#61;3//圆柱体
uint8 LINE_STRIP&#61;4//线条&#xff08;点的连线&#xff09;
uint8 LINE_LIST&#61;5//线条序列
uint8 CUBE_LIST&#61;6//立方体序列
uint8 SPHERE_LIST&#61;7//球序列
uint8 POINTS&#61;8//点集
uint8 TEXT_VIEW_FACING&#61;9//显示3D的文字
uint8 MESH_RESOURCE&#61;10//网格&#xff1f;
uint8 TRIANGLE_LIST&#61;11//三角形序列
//对标记的操作
uint8 ADD&#61;0
uint8 MODIFY&#61;0
uint8 DELETE&#61;2
uint8 DELETEALL&#61;3

Header header
string ns   //命名空间namespace&#xff0c;就是你理解的那样
int32 id    //与命名空间联合起来&#xff0c;形成唯一的id&#xff0c;这个唯一的id可以将各个标志物区分开来&#xff0c;使得程序可以对指定的标志物进行操作
int32 type  //类型
int32 action 	//操作&#xff0c;是添加还是修改还是删除
geometry_msgs/Pose pose       # Pose of the object
geometry_msgs/Vector3 scale   # Scale of the object 1,1,1 means default (usually 1 meter square)
std_msgs/ColorRGBA color      # Color [0.0-1.0]
duration lifetime             # How long the object should last before being automatically deleted.  0 means forever
bool frame_locked             # If this marker should be frame-locked, i.e. retransformed into its frame every timestep

#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
geometry_msgs/Point[] points//这个是在序列、点集中才会用到&#xff0c;指明序列中每个点的位置
#Only used if the type specified has some use for them (eg. POINTS, LINE_STRIP, ...)
#number of colors must either be 0 or equal to the number of points
#NOTE: alpha is not yet used
std_msgs/ColorRGBA[] colors

# NOTE: only used for text markers
string text

# NOTE: only used for MESH_RESOURCE markers
string mesh_resource
bool mesh_use_embedded_materials</code></pre> 
<h2>1.1 使用lifetime实现</h2> 
<p>    每次获取到机器人的位姿后&#xff0c;就在对应点发布一个标志&#xff0c;然后将lifetime设为0&#xff0c;也就是无限久地保存&#xff5e;&#xff5e;但是需要注意一点&#xff0c;让ns或者id变量每次都不一样&#xff0c;否则ns和id一直一样的话&#xff0c;后面的操作会覆盖前面的操作&#xff0c;也就一直只能看到最新的了。建议每次让id&#43;&#61;1。代码见marker.cpp&#xff0c;这个是稍微修改了<a href="http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes">ROS官网Markers: Sending Basic Shapes (C&#43;&#43;)</a>的代码。大家不要被颜色形状什么的干扰&#xff5e;&#xff5e;&#xff5e;我只是懒得调。</p> 
<p><img alt="" class="has" src="https://img-blog.csdn.net/20180525152435566?watermark/2/text/aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3UwMTM4MzQ1MjU&#61;/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA&#61;&#61;/dissolve/70" /></p> 
<h2>1.2 使用标志序列或者点集实现</h2> 
<p>    这个没啥好说的&#xff0c;程序都是copy<a href="http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines">官网的教程</a>。但这个有个不好的是&#xff0c;如果时间比较久&#xff0c;需要保存一个很长的数组来存储历史轨迹的坐标。见marker_list.cpp</p> 
<p><img alt="" class="has" src="https://img-blog.csdn.net/20180525152613816?watermark/2/text/aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3UwMTM4MzQ1MjU&#61;/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA&#61;&#61;/dissolve/70" /></p> 
<h1> </h1> 
<h1> </h1> 
<h1>2. nav_msgs/Path</h1> 
<p>    这个功能是利用rviz中的Path类型实现的&#xff0c;只需要发布nav_msgs/Path类型的消息&#xff0c;然后在rviz上订阅该消息就可以显示轨迹路径。而nav_msgs/Path类型的数据很简单&#xff0c;就是一个位姿的集合。navigation功能包集中显示规划路径用的就是这个东西。</p> 
<p>    这个有点像Marker中的序列和点集一样&#xff0c;需要维护一个数组。在rviz中可以对路径的颜色、宽度、透明度等进行设置&#xff0c;另外可以设置显示箭头和坐标。最终显示的结果根Marker差不多&#xff0c;个人感觉是简单方便&#xff0c;不用想这么多。代码见path.cpp</p> 
<pre class="has"><code class="language-cpp">//nav_msgs/Path数据类型  
Header header  
geometry_msgs/PoseStamped[] poses  
//类型扩展&#xff1a;  
Header header  
    uint32 seq  
    time stamp  
    string frame_id  
geometry_msgs/PoseStamped[] poses  
    Header header  
        uint32 seq  
        time stamp  
        string frame_id  
    geometry_msgs/Pose pose  
        geometry_msgs/Point position  
            float64 x  
            float64 y  
            float64 z  
        geometry_msgs/Quaternion orientation  
            float64 x  
            float64 y  
            float64 z  
            float64 w</code></pre> 
<p>效果图&#xff1a;</p> 
<p><img alt="" class="has" src="https://img-blog.csdn.net/20180525160856852?watermark/2/text/aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3UwMTM4MzQ1MjU&#61;/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA&#61;&#61;/dissolve/70" /><br />  </p> 
<h1>3. 未完待续</h1> 
<p>看到github上一个开源项目&#xff0c;上面有更多可视化的图形&#xff5e;&#xff5e;&#xff5e;&#xff5e;有兴趣可以取看看&#xff1a;</p> 
<p><a href="https://github.com/PickNikRobotics/rviz_visual_tools">github上的rviz_visual_tools</a></p> 
<p>nav_msgs/Odometry也可以&#xff5e;&#xff5e;只需要发布好里程计数据&#xff08;一般从轮子运动模型或者IMU或者视觉里程计&#xff0c;激光雷达里程计等发布&#xff09;。然后在rviz中添加这个odometry就可以了。keep选多一点&#xff0c;这个是rviz会帮你缓存的数据量。length即向量的长度&#xff0c;选择合适的即可。注意要将你的Fixed Frame选择为<strong>my_frame</strong>的坐标系才会显示。</p> 
<h1>参考</h1> 
<p><a href="http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes">http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes</a></p> 
<p><a href="http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines">http://wiki.ros.org/rviz/Tutorials/Markers%3A%20Points%20and%20Lines</a></p> 
<p><a href="https://blog.csdn.net/ktigerhero3/article/details/70256437">https://blog.csdn.net/ktigerhero3/article/details/70256437</a></p> 
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                            <div class="share-dec">0.写在最前面希望大家收藏：本文持续更新地址：https://haoqchen.site/2018/05/25/ROS-show-trajectory/左侧专栏还在更新其他ROS实用技巧哦，关注一波？在使用ROS进行机器人控制的时候，有时候会希望能够显示并且保留机器人的历史运动轨迹，比如最近在做行人跟踪，就希望能够保留多个行人的轨迹以及机器人的运动。本文将会介绍网上搜罗到...</div>
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uint8 ARROW=0//箭头
uint8 CUBE=1//立方体
uint8 SPHERE=2//球
uint8 CYLINDER=3//圆柱体
uint8 LINE_STRIP=4//线条（点的连线）
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uint8 CUBE_</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>RVIZ</em>中利用<em>marker</em>s标记<em>历史</em><em>路径</em>（超详细）</div>
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				<div class="desc ellipsis-online ellipsis-online-1">写在前面
最近有道作业题需要将<em>机器人</em>的<em>历史</em><em>路径</em><em>显示</em>出来，但是网上很多相关的教程都是搬运了官网的链接，并没有详细的操作流程。。。因此我又花费了很多时间去<em>ros</em>官网上学习<em>marker</em>的用法，学习怎么写publisher和subscriber，最终成功将<em>路径</em><em>显示</em>了出来。这篇文章是对这个过程的详细的介绍，原理和代码实践部分会分开，因此如果你赶时间只要一个结果的话，把详细的讲解跳过即可。不过我还是推荐看完，毕竟我花了这么多精力来写知其然也要知其所以然。
（我是<em>ROS</em>新手，从作业这一点也应该看出来了XD，有不对的地方欢</div>
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				<div class="desc ellipsis-online ellipsis-online-1">文章目录1.利用<em>nav</em>_<em>msgs</em>/<em>Path</em>消息实现<em>轨迹</em><em>显示</em>
1.利用<em>nav</em>_<em>msgs</em>/<em>Path</em>消息实现<em>轨迹</em><em>显示</em>

主函数show<em>path</em>.cpp

#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;<em>ros</em>/console.h&gt;
#include &lt;<em>nav</em>_<em>msgs</em>/<em>Path</em>.h&gt;
#include &lt;std_<em>msgs</em>/String.h&gt;
...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">上海硅步<em>ROS</em>连载系列43期 <em>RViz</em>工具使用实操
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				<div class="desc ellipsis-online ellipsis-online-1">这么好的文章怎么能不转发&hellip;无改动~~
参考（九）<em>ROS</em>在<em>rviz</em>中实时<em>显示</em><em>轨迹</em>（<em>nav</em>_<em>msgs</em>/<em>Path</em>消息的使用）
如何在<em>rviz</em>中如何实时<em>显示</em><em>轨迹</em>呢？
本文分析<em>nav</em>_<em>msgs</em>/<em>Path</em>结构，实现在<em>rviz</em>中画出圆形<em>轨迹</em>。
1.使用参考代码画<em>轨迹</em>效果展示（hector_slam）
google <em>rviz</em>中如何实时<em>显示</em><em>轨迹</em>?会有以下重要资料。
参考资料
参考http://answers.<em>ros</em>...</div>
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				<div class="desc ellipsis-online ellipsis-online-1">在用<em>rviz</em>的<em>marker</em><em>显示</em><em>轨迹</em>时，<em>历史</em><em>轨迹</em>一直未清除，lifetime也设置了，但没起作用：



借助了这两篇文章排查原因：

<em>rviz</em> <em>marker</em> lifetime has no effect

<em>ROS</em> 学习踩坑笔记8-<em>rviz</em> <em>marker</em> /<em>marker</em>Array <em>显示</em> 及删除问题

也没解决，后来听别人指导，可能是<em>marker</em>的id没设置好&ldquo;每个点都有各自的id，然后新更新的id都没有覆盖到之前残留的id&rdquo;，按照这个<em>方法</em>调整了id，问题解决。
...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ros</em>(21):<em>visualization</em>_<em>msgs</em>::<em>Marker</em>基本形状Basic Shapes 基本操作ADD DELETE（c++）教程</div>
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				<div class="desc ellipsis-online ellipsis-online-1">1 创建工作空间

 先看一下有哪些文件：（请忽略压缩包）


meng@meng:~/ideas/<em>ros</em>_ws$ tree
.
└── src
    ├── beginner_tutorials.zip
    └── using_<em>marker</em>s
        ├── CMakeLists.txt
        ├── include
        │ └── using_<em>marker</em>s
        ├── package.xml
        └── src
      ...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em>教程系列第一章之<em>Marker</em>s</div>
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				<div class="desc ellipsis-online ellipsis-online-1">与其他<em>显示</em>不同的是，标记<em>显示</em>让你可视化<em>rviz</em>中的数据，而不需要<em>rviz</em>知道解释数据的任何事情。 相反，原始对象通过<em>visualization</em>_<em>msgs</em> / <em>Marker</em>消息发送到<em>显示</em>器，让您<em>显示</em>诸如箭头，框，球体和线条之类的东西。</div>
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				<div class="desc ellipsis-online ellipsis-online-1">private void draw5Big(float z,float r,float g,float b,float a){
		MatrixState.pushMatrix();
		MatrixState.translate(0, 0, z);
		drawBallColorBig.drawSelf(r, g, b, a);
		MatrixState.popMatrix();
		...</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>自学实践(12)：<em>visualization</em>_msg消息中<em>Marker</em>Array示例</div>
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				<div class="desc ellipsis-online ellipsis-online-1">1.前言
在<em>ROS</em>中经常需要在<em>rviz</em>中输出各种结果的图像，例如在<em>路径</em>规划过程中的所有搜索过的栅格进行<em>显示</em>，展示出<em>路径</em>搜索的效率。这里将代码附在下面，方便以后查阅。
2.代码示例
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;<em>visualization</em>_<em>msgs</em>/<em>Marker</em>.h&gt;
#include &lt;<em>visualization</em>_<em>msgs</em>/<em>Marker</em>Array.h&gt;
#include &lt;iostream&gt;
int main(int argc,</div>
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					<div class="left ellipsis-online ellipsis-online-1">geometry_<em>msgs</em>::Point的解析</div>
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				<div class="desc ellipsis-online ellipsis-online-1">其为经纬度转某一平面坐标系下的点的坐标
#include &lt;eigen_conversions/eigen_msg.h&gt;
geometry_<em>msgs</em>::Point init_pos_;
init_pos_.x=503779.259;
init_pos_.y=4055043.853;
init_pos_.z=0;


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				<div class="desc ellipsis-online ellipsis-online-1"><em>ROS</em>中<em>Marker</em>参数含义详解
//各种标志物类型的定义，每一个的具体介绍和形状可以到这里查看：http:		 //wiki.<em>ros</em>.org/<em>rviz</em>/DisplayTypes/<em>Marker</em>
uint8 ARROW=0//箭头
uint8 CUBE=1//立方体
uint8 SPHERE=2//球
uint8 CYLINDER=3//圆柱体
uint8 LINE_STRIP=4//线条（点的连线）
uint8 LINE_LIST=5//线条序列
uint8 CUBE_LIST=6//立方体序列
uint8</div>
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				<div class="desc ellipsis-online ellipsis-online-1">以下发布的是根据协方差矩阵求解的表征位置误差1 sigma范围的椭球,以及表征速度的箭头


    void publish(){
        <em>visualization</em>_<em>msgs</em>::<em>Marker</em>Array ma;
        <em>visualization</em>_<em>msgs</em>::<em>Marker</em> m;
        <em>visualization</em>_<em>msgs</em>::<em>Marker</em> array;
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        m.id = 0;
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				<div class="desc ellipsis-online ellipsis-online-1">本教程将向您展示如何发送四个基本形状(盒子、球体、圆柱体和箭头)。我们将创建一个程序，每秒发送一个新的标记，用不同的形状替换最后一个。
1.在工作空间创建一个using<em>marker</em>的功能包：
catkin_create_pkg using_<em>marker</em>s <em>ros</em>cpp <em>visualization</em>_<em>msgs</em>

2.在src/basic _ shapes. cpp中粘贴以下内容：
#include &lt;<em>ros</em>/<em>ros</em>.h&gt;
#include &lt;<em>visualization</em>_<em>msgs</em>/<em>Marker</em>.</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em>教程（四）：<em>RVIZ</em>使用教程（详细图文）</div>
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				<div class="desc ellipsis-online ellipsis-online-1">前言
根据前面的教程已经学会了创建功能包，那么本篇文章主要内容则是通过节点来发布数据至<em>RVIZ</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">【体验内容】
一、全局规划：Astar算法
在工作空间的src目录下，下载astar算法并编译
git  clone  https://gitee.com/massif_li/astar
cd ..
catkin_make

修改launch文件中的yaml地图文件地址，运行launch文件
<em>ros</em>launch astar astar.launch

在<em>显示</em>出来的<em>rviz</em>界面中可以看到设置的地图文件，分辨点击2D Pose Estimate和2D <em>Nav</em> Goal，即可在地图中设置起始位姿和目标位姿，可以看</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>Rviz</em><em>显示</em>理想的<em>运动</em>的<em>轨迹</em>，并对比实时的<em>运动</em><em>轨迹</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1">Reference


<em>ROS</em>中<em>rviz</em><em>显示</em><em>运动</em><em>轨迹</em>的常见<em>方法</em>:
https://blog.csdn.net/u013834525/article/details/80447931?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromBaidu%7Edefault-5.control&amp;dist_request_id=&amp;depth_1-utm_source=distribute.pc_rel</div>
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					<div class="left ellipsis-online ellipsis-online-1"><em>ROS</em> <em>Rviz</em> <em>显示</em><em>路径</em></div>
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				<div class="desc ellipsis-online ellipsis-online-1"><em>Rviz</em> <em>visualization</em>/ <em>Rviz</em> <em>显示</em><em>路径</em>
代码github地址：practical_skills_and_tools/<em>Rviz</em> <em>visualization</em>
功能包用途：
（1）可以加载csv文件；
（2）根据csv文件中的路点信息和航向角信息画出带箭头或立方体形状等（自定义）的<em>路径</em>；
（3）以点构成的<em>路径</em>。
Build
catkin_make

Execute
<em>ros</em>launch <em>rviz</em>_<em>visualization</em> <em>rviz</em>_<em>visualization</em>.launch

or
<em>ros</em>run</div>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/u013834525/article/details/82793473#comments_23696216" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/82793473#comments_23696216","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/82793473#comments_23696216","ab":"new"}'>有n根长度不同的木棒，随意选取三根凑一个合法的三角形，求总拼凑方案的数量（2018腾讯软件开发-后台开发方向秋招补考试题第三题）</a>
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                    <a href="https://blog.csdn.net/u013834525" class="user-name" target="_blank">白夜行的狼: </a>
                    <span class="code-comments">看着是3层for循环，但是哪怕最坏的情况，也会存在大量提前退出的，不知道怎么算这个复杂度</span>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/u013834525/article/details/85545321#comments_23639092" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/85545321#comments_23639092","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/85545321#comments_23639092","ab":"new"}'>ROS Navigation之nav_core完全详解</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/ws107845f" class="user-name" target="_blank">pomelo丶a: </a>
                    <span class="code-comments">nav_core只是提供接口父函数的头文件，具体实现要看自己怎么写了</span>
                </p>
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            <li>
                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/u013834525/article/details/82793473#comments_23538662" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/82793473#comments_23538662","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/82793473#comments_23538662","ab":"new"}'>有n根长度不同的木棒，随意选取三根凑一个合法的三角形，求总拼凑方案的数量（2018腾讯软件开发-后台开发方向秋招补考试题第三题）</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/weixin_61128325" class="user-name" target="_blank">叶子294: </a>
                    <span class="code-comments">那改良后的时间复杂度还是n三次方吗？感觉还是，只是没有暴力求解的大</span>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/u013834525/article/details/80097253#comments_23531827" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/80097253#comments_23531827","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/80097253#comments_23531827","ab":"new"}'>科大讯飞实时语音唤醒+离线命令词识别在Linux及ROS下的应用</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/weixin_51995147" class="user-name" target="_blank">笨小古: </a>
                    <span class="code-comments">使用科大讯飞的语音唤醒功能需要录制pcm格式的音频文件吗</span>
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                <a class="title text-truncate" target="_blank" href="https://blog.csdn.net/u013834525/article/details/85545321#comments_23311273" data-report-click='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/85545321#comments_23311273","ab":"new"}' data-report-view='{"mod":"popu_542","spm":"1001.2101.3001.4231","dest":"https://blog.csdn.net/u013834525/article/details/85545321#comments_23311273","ab":"new"}'>ROS Navigation之nav_core完全详解</a>
                <p class="comment ellipsis">
                    <a href="https://blog.csdn.net/weixin_62277604" class="user-name" target="_blank">FROM LOSER610: </a>
                    <span class="code-comments">nav_core是没有src的吗</span>
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